CN109106556A - A kind of moving method and its mobile system of upper-limbs rehabilitation training robot - Google Patents
A kind of moving method and its mobile system of upper-limbs rehabilitation training robot Download PDFInfo
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- CN109106556A CN109106556A CN201810935756.3A CN201810935756A CN109106556A CN 109106556 A CN109106556 A CN 109106556A CN 201810935756 A CN201810935756 A CN 201810935756A CN 109106556 A CN109106556 A CN 109106556A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 16
- 230000035876 healing Effects 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of moving methods of upper-limbs rehabilitation training robot, include: the training game carried out required for controller selection patient, start processor, the processor is driven to detect whether the patient has mobile intention to the training game, if so, then generating intention motion-vector；According to the training game and the intention motion-vector, feasible motion-vector list is matched in motion-vector list from prestoring in the controller, and is intended to according to treatment, the selected target motion-vector from the feasible motion-vector list；Moving target position is determined according to current location and the target motion-vector, and the healing robot is moved to the moving target position.The moving method efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training movement requirement.The invention also discloses a kind of mobile systems using above-mentioned moving method.
Description
Technical field
The present invention relates to rehabilitation training technical fields, more particularly to a kind of mobile side of upper-limbs rehabilitation training robot
Method.Moreover, it relates to a kind of mobile system including above-mentioned moving method.
Background technique
Existing upper-limbs rehabilitation training robot product technology realization on require ectoskeleton greatly as mechanical arm and
Bulky support base；Or joint position only fed back with sensor for more easy joint training aids etc., but cannot be according to
Complicated rehabilitation training requirement is realized by technologies such as motor controls.
The shortcomings that conventional ectoskeleton upper limb rehabilitation robot product is: ectoskeleton mechanical arm size is big, training joint number
More multiple-length direction size is bigger.The support base of installation and the fixation of mechanical arm dimensionally in weight all very greatly and very
Weight.The shortcomings that joint training aids of routine is: the driving of joint training is seldom to be driven and carried out position control by motor
It makes to complete, so that general joint training aids is unable to satisfy complicated rehabilitation training requirement.
In conclusion how to efficiently solve general joint training aids is unable to satisfy complicated rehabilitation training movement requirement
The problems such as, it is current those skilled in the art's urgent problem.
Summary of the invention
The object of the present invention is to provide a kind of moving method of upper-limbs rehabilitation training robot, which is effectively solved
General joint training aids of having determined is unable to satisfy the problems such as complicated rehabilitation training movement requirement；It is another object of the present invention to mention
For a kind of mobile system using above-mentioned moving method.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of moving method of upper-limbs rehabilitation training robot, comprising:
Controller selects the training game carried out required for patient, starts processor, drives described in the processor detection
Whether patient has mobile intention to the training game, if so, then generating intention motion-vector；
According to the training game and the intention motion-vector, from being prestored in the controller in motion-vector list
Feasible motion-vector list is allotted, and is intended to according to treatment, the selected target motion-vector from the feasible motion-vector list；
Moving target position is determined according to current location and the target motion-vector, and the healing robot is mobile
To the moving target position.
Preferably, the controller control driver applies corresponding power-assisted/resistance to the healing robot, will be described
Healing robot is moved to the next target position.
Preferably, the moving target position is shown on a display screen.
Preferably, the intention motion-vector, the target motion-vector are stored in memory, and generate the shifting of patient
Dynamic database.
The present invention also provides a kind of mobile system of upper-limbs rehabilitation training robot, including operation desktop, host, with it is described
The mobile robot that the controller of host is connected with processor, the healing robot moved up in the operation desktop it is dynamic,
The controller is used for the training game carried out required for selecting patient, starts processor, drives the processor
Detect whether the patient has mobile intention to the training game, if so, then generating intention motion-vector；According to the instruction
Practice game and the intention motion-vector, matches feasible motion-vector column in motion-vector list from prestoring in the controller
Table, and be intended to according to treatment, the selected target motion-vector from the feasible motion-vector list；According to current location and described
Target motion-vector determines moving target position, and the healing robot is moved to the moving target position；
The processor is for detecting whether the patient has mobile intention to the training game, if so, then generating
It is intended to motion-vector.
It preferably, further include driver, the driver is used to apply corresponding power-assisted/resistance to the healing robot
Power is moved to the next target position for described.
It preferably, further include display screen, the display screen is for showing the moving target position.
Preferably, further include memory, the memory for store the intentions motion-vector, the target move to
Amount, and generate the move database of patient.
The moving method of upper-limbs rehabilitation training robot provided by the present invention, comprising:
The training game carried out required for the controller selection patient of host, training game is rehabilitation teacher according to patient profiles
It formulates.Controller starts the processor of host, and whether driving processor detection patient has mobile intention to training game, if
Have, controller then generates intention motion-vector.
Controller is according to training game and is intended to motion-vector, and prestoring for multiple motion-vector compositions is prestored in controller
Motion-vector list matches feasible motion-vector list from prestoring in controller, it may be possible to one, have in motion-vector list
It may be multiple.Controller is intended to according to treatment, the selected target motion-vector from feasible motion-vector list, that is, most suitable
The motion-vector of conjunction.
Controller determines moving target position according to current location and target motion-vector, and healing robot is moved to
Moving target position completes the movement of healing robot.
Moving method provided by the present invention, controller according to training game identify the intention of patient generate be intended to it is mobile to
Amount, and be intended to combine with the treatment of rehabilitation teacher and generate new target shift position, executing agency's healing robot is driven with this
Reach new target position, patient is made to complete rehabilitation training under subjective desire, it is pleasant can not only to have made patient heart, but also can reach
To optimal rehabilitation efficacy.
The present invention also provides a kind of mobile systems of upper-limbs rehabilitation training robot, including operation desktop, host and host
The mobile robot that is connected with processor of controller, healing robot moves up dynamic in operation desktop, and controller is suffered from for selecting
The training game carried out required for person starts processor, and whether driving processor detection patient has mobile intention to training game,
If so, then generating intention motion-vector；According to training game and it is intended to motion-vector, motion-vector column is prestored from controller
Match feasible motion-vector list in table, and be intended to according to treatment, from feasible motion-vector list selected target it is mobile to
Amount；Moving target position is determined according to current location and target motion-vector, and healing robot is moved to mobile target position
It sets；Processor is for detecting whether patient has mobile intention to training game, if so, intention motion-vector is then generated, the shifting
Dynamic system is moved by any of the above-described kind of moving method.Since above-mentioned moving method has above-mentioned technique effect, pass through
The mobile mobile system of the moving method should also have corresponding technical effect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of schematic diagram of moving method provided by specific embodiment in the present invention.
Specific embodiment
Core of the invention is to provide a kind of moving method of upper-limbs rehabilitation training robot, which effectively solves
General joint training aids of having determined is unable to satisfy the problems such as complicated rehabilitation training movement requirement；Another core of the invention is to mention
For a kind of mobile system using above-mentioned moving method.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, schematic diagram of the Fig. 1 for moving method provided by specific embodiment a kind of in the present invention.
In a specific embodiment, the moving method of upper-limbs rehabilitation training robot provided by the present invention, comprising:
S100: the training game carried out required for the controller selection patient of host, training game is rehabilitation teacher according to trouble
What person's situation was formulated.Controller starts the processor of host, and whether driving processor detection patient has mobile meaning to training game
Figure, if so, controller then generates intention motion-vector.
S200: controller is according to training game and is intended to motion-vector, and multiple motion-vector compositions are prestored in controller
Prestore motion-vector list, feasible motion-vector list is matched in motion-vector list from prestoring in controller, it may be possible to
One, it may be possible to multiple.Controller is intended to according to treatment, the selected target motion-vector from feasible motion-vector list,
It is exactly most suitable motion-vector.
S300: controller determines moving target position according to current location and target motion-vector, and by healing robot
It is moved to moving target position, completes the movement of healing robot.
Moving method provided by the present invention, controller according to training game identify the intention of patient generate be intended to it is mobile to
Amount, and be intended to combine with the treatment of rehabilitation teacher and generate new target shift position, executing agency's healing robot is driven with this
Reach new target position, patient is made to complete rehabilitation training under subjective desire, it is pleasant can not only to have made patient heart, but also can reach
To optimal rehabilitation efficacy.
Above-mentioned moving method is only a kind of preferred embodiment, is specifically not limited thereto, on this basis can be according to practical need
It makes having and targetedly adjust, to obtain different embodiments, controller control driver applies healing robot
Add corresponding power-assisted/resistance, adjust the movement speed and moving direction of healing robot, healing robot is moved to next mesh
Cursor position, shift position is more accurate, controls more convenient.
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of specific occasion, to shifting
Dynamic method carries out several changes, and moving target position is shown on a display screen, and display screen can be liquid crystal display, and picture is more
Clearly, facilitate patient and rehabilitation teacher to check the shift position of healing robot at any time, and record corresponding rehabilitation information, improve rehabilitation
Effect.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned
Specific embodiment carries out several changes, it is intended that motion-vector, target motion-vector are stored in memory, and generate patient's
Move database records the rehabilitation training of patient, summarizes optimal rehabilitation movement routine, and subsequent rehabilitation training is facilitated to refer to.
The present invention also provides a kind of mobile systems of upper-limbs rehabilitation training robot, including operation desktop, host and host
The mobile robot that is connected with processor of controller, healing robot moves up dynamic in operation desktop, and controller is suffered from for selecting
The training game carried out required for person starts processor, and whether driving processor detection patient has mobile intention to training game,
If so, then generating intention motion-vector；According to training game and it is intended to motion-vector, motion-vector column is prestored from controller
Match feasible motion-vector list in table, and be intended to according to treatment, from feasible motion-vector list selected target it is mobile to
Amount；Moving target position is determined according to current location and target motion-vector, and healing robot is moved to mobile target position
It sets；Processor is for detecting whether patient has mobile intention to training game, if so, then generating intention motion-vector.
Mobile system provided by the present invention, controller according to training game identify the intention of patient generate be intended to it is mobile to
Amount, and be intended to combine with the treatment of rehabilitation teacher and generate new target shift position, executing agency's healing robot is driven with this
Reach new target position, patient is made to complete rehabilitation training under subjective desire, it is pleasant can not only to have made patient heart, but also can reach
To optimal rehabilitation efficacy.
It is important to note that moving method provided by the present invention is not intended to be limited to such situation, it further include driving
Dynamic device, driver are used to apply corresponding power-assisted/resistance to healing robot, will be moved to next target position, adjust rehabilitation
Healing robot is moved to next target position by the movement speed and moving direction of robot, and shift position is more accurate, control
It makes more convenient.
It preferably, further include display screen, display screen facilitates patient and rehabilitation teacher to look at any time for showing moving target position
The shift position for seeing healing robot obtains corresponding rehabilitation information, improves rehabilitation efficacy.
It preferably, further include memory, memory is intended to motion-vector, target motion-vector for storing, and generates trouble
The move database of person records the rehabilitation training of patient, summarizes optimal rehabilitation movement routine, and subsequent rehabilitation training is facilitated to join
It examines.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (8)
1. a kind of moving method of upper-limbs rehabilitation training robot characterized by comprising
Controller selects the training game carried out required for patient, starts processor, and the processor is driven to detect the patient
Whether mobile intention is had to the training game, if so, then generating intention motion-vector；
According to the training game and the intention motion-vector, matched from being prestored in motion-vector list in the controller
Feasible motion-vector list, and be intended to according to treatment, the selected target motion-vector from the feasible motion-vector list；
Moving target position is determined according to current location and the target motion-vector, and the healing robot is moved to institute
State moving target position.
2. moving method according to claim 1, which is characterized in that the controller control driver is to the rehabilitation machines
Device people applies corresponding power-assisted/resistance, and the healing robot is moved to the next target position.
3. moving method according to claim 2, which is characterized in that the moving target position is shown on a display screen.
4. moving method according to claim 3, which is characterized in that the intention motion-vector, the target it is mobile to
Amount is stored in memory, and generates the move database of patient.
5. a kind of mobile system of upper-limbs rehabilitation training robot, which is characterized in that including operation desktop, host and the master
The mobile robot that the controller of machine is connected with processor, the healing robot moved up in the operation desktop it is dynamic,
The controller is used for the training game carried out required for selecting patient, starts processor, and the processor is driven to detect
Whether the patient has mobile intention to the training game, if so, then generating intention motion-vector；According to the training trip
Play and the intention motion-vector, match feasible motion-vector list from prestoring in the controller in motion-vector list,
And it is intended to according to treatment, the selected target motion-vector from the feasible motion-vector list；According to current location and the mesh
Mark motion-vector determines moving target position, and the healing robot is moved to the moving target position；
The processor is for detecting whether the patient has mobile intention to the training game, if so, then generating intention
Motion-vector.
6. mobile system according to claim 5, which is characterized in that further include driver, the driver is used for institute
It states healing robot and applies corresponding power-assisted/resistance, be moved to the next target position for described.
7. mobile system according to claim 6, which is characterized in that further include display screen, the display screen is for showing
The moving target position.
8. mobile system according to claim 7, which is characterized in that further include memory, the memory is for storing
The intention motion-vector, the target motion-vector, and generate the move database of patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935756.3A CN109106556A (en) | 2018-08-16 | 2018-08-16 | A kind of moving method and its mobile system of upper-limbs rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935756.3A CN109106556A (en) | 2018-08-16 | 2018-08-16 | A kind of moving method and its mobile system of upper-limbs rehabilitation training robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150141773A1 (en) * | 2004-08-25 | 2015-05-21 | Motorika Limited | Motor training with brain plasticity |
| CN105213153A (en) * | 2015-09-14 | 2016-01-06 | 西安交通大学 | Based on the lower limb rehabilitation robot control method of brain flesh information impedance |
| CN105771182A (en) * | 2016-05-13 | 2016-07-20 | 中国科学院自动化研究所 | Active exercise control method and device for rehabilitation robot |
| CN106618957A (en) * | 2016-12-16 | 2017-05-10 | 南通大学 | Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy |
| US20180177666A1 (en) * | 2016-12-22 | 2018-06-28 | Rehab-Robotics Company Ltd. | Power Assistive Device For Hand Rehabilitation And A Method of Using The Same |
| JP2018519004A (en) * | 2015-06-15 | 2018-07-19 | マイオモ インコーポレイテッド | Electric straightening device and method of using the same |
-
2018
- 2018-08-16 CN CN201810935756.3A patent/CN109106556A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150141773A1 (en) * | 2004-08-25 | 2015-05-21 | Motorika Limited | Motor training with brain plasticity |
| JP2018519004A (en) * | 2015-06-15 | 2018-07-19 | マイオモ インコーポレイテッド | Electric straightening device and method of using the same |
| CN105213153A (en) * | 2015-09-14 | 2016-01-06 | 西安交通大学 | Based on the lower limb rehabilitation robot control method of brain flesh information impedance |
| CN105771182A (en) * | 2016-05-13 | 2016-07-20 | 中国科学院自动化研究所 | Active exercise control method and device for rehabilitation robot |
| CN106618957A (en) * | 2016-12-16 | 2017-05-10 | 南通大学 | Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy |
| US20180177666A1 (en) * | 2016-12-22 | 2018-06-28 | Rehab-Robotics Company Ltd. | Power Assistive Device For Hand Rehabilitation And A Method of Using The Same |
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